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Redundant Kinematics Solution For A Combined 6dof Robotic Manipulator And 2dof Part Positioner In A Waam Application, Ethan C. Vals
Redundant Kinematics Solution For A Combined 6dof Robotic Manipulator And 2dof Part Positioner In A Waam Application, Ethan C. Vals
Masters Theses
A typical wire arc additive manufacturing (WAAM) robot cell consists of a 6 DOF robot manipulator and a 2 DOF part positioner. Since the WAAM process requires a minimum of 5 DOFs, there are three redundant DOFs in the system that can be utilized to improve the robot manipulator positioning during part printing. In this thesis, the redundant kinematics of a manipulator and part positioner robot system are solved and then implemented on an actual robot system. The inverse kinematics of the manipulator and part positioner are solved as a kinematic chain using the pseudo-inverse Jacobian method. The two DOFs …